Automatic centering device and automatic centering method for two-axle vehicle body

Abstract

The automatic centering device comprises a parking supporting plate, detection modules, a front wheel adjusting platform and a rear wheel adjusting platform, the four corners of the parking supporting plate are each connected with one detection module, one side of the parking supporting plate in the Y direction is connected with the front wheel adjusting platform, and the other side of the parking supporting plate in the Y direction is connected with the rear wheel adjusting platform. The other side of the parking supporting plate in the Y direction is connected with the rear wheel adjusting platform, and the detection module, the front wheel adjusting platform and the rear wheel adjusting platform are fixedly arranged on the parking supporting plate. The detection module, the front wheel adjusting platform and the rear wheel adjusting platform enable the coordinate system of the two-axle vehicle to be consistent with the coordinate system of the device and the coordinate system of the test chamber. According to the invention, the vehicle body of the two-axle vehicle can be centered in an automatic centering mode, so that the coordinate system of the two-axle vehicle is consistent with the coordinate system of the centering device.

Description

Technical Field

[0001] The invention relates to the technical field of automobile detection equipment, and in particular to an automatic centering device and an automatic centering method for a two-axle vehicle body. Background Art

[0002] Vehicle lighting inspection is the core link of automobile production quality assurance. Through comprehensive and systematic inspection, the product defect rate can be effectively reduced and the reliability and safety of the automobile can be improved. Before conducting lighting inspection, the vehicle needs to be centered and positioned in the test room, and it must be ensured that the vehicle is accurately positioned. The current positioning method of the prior art usually requires manual adjustment of the vehicle during the vehicle positioning process so that its central axis coincides with the center line of the laser centering mark on the vehicle body, and then various debugging and equipment calibration are carried out based on this.

[0003] However, existing methods still require manual operation to center vehicles, have low centering accuracy, low centering efficiency, and insufficient degree of automation, making it difficult to meet the needs of batch inspection on the production line. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a two-axle vehicle body automatic centering device and an automatic centering method, which can automatically center the body of a two-axle vehicle, thereby making the coordinate system of the two-axle vehicle consistent with the coordinate system of the centering device, thereby making the coordinate system of the two-axle vehicle consistent with the coordinate system of the test room. The centering method is completed automatically, with higher efficiency and lower error rate.

[0005] The present invention achieves the above technical objectives through the following technical means.

[0006] A two-axle vehicle body automatic centering device, comprising:

[0007] A parking pallet, wherein the coordinate system of the parking pallet is consistent with the coordinate system of the test room, a detection module is connected to each of the four corners of the parking pallet, one side of the parking pallet in the Y direction is connected to the front wheel adjustment platform, and the other side of the parking pallet in the Y direction is connected to the rear wheel adjustment platform;

[0008] A detection module, fixedly disposed on the parking pallet, is configured to detect the distance from the front and rear sides of the two-axle vehicle body to the corresponding side infrared camera;

[0009] A front wheel adjustment platform is fixedly mounted on the parking pallet and is configured to make the center axis of the front wheel of the two-axle vehicle in the X direction coincide with the center axis of the parking pallet in the X direction in the vertical direction;

[0010] The rear wheel adjustment platform is fixedly arranged on the parking pallet and is configured to make the central axis of the rear wheel of the two-axle vehicle in the X direction coincide with the central axis of the parking pallet in the X direction in the vertical direction, wherein the X direction is perpendicular to the Y direction, and the detection module, the front wheel adjustment platform and the rear wheel adjustment platform make the coordinate system of the two-axle vehicle consistent with the coordinate system of the device and the coordinate system of the test room.

[0011] Furthermore, the detection module includes:

[0012] A square steel column, fixedly arranged above the parking pallet;

[0013] A linear slide group is arranged on the side of the square steel column;

[0014] Limiting blocks are arranged at both ends of the side of the linear slide group;

[0015] A stepper motor is disposed below the linear slide group and is configured to drive the linear slide group to move;

[0016] The infrared detection module is clamped on the linear slide group, and the linear slide group drives the infrared detection module to move in a vertical direction. The infrared detection module moves between the limit blocks.

[0017] Furthermore, the infrared detection module includes:

[0018] A sliding seat, arranged on the side of the linear slide group;

[0019] A shaft adjustment module is arranged on the sliding seat;

[0020] The infrared camera is arranged on the shaft adjustment module and is configured to measure the distance from one side of the two-axle vehicle to the infrared camera on the corresponding side in the Y direction. The infrared camera can rotate along the X direction and the Y direction under the action of the shaft adjustment module.

[0021] Further, the front wheel adjustment platform comprises:

[0022] A front wheel linear guide rail is fixedly arranged on the parking pallet, and the long side direction of the front wheel linear guide rail is parallel to the Y direction;

[0023] A front wheel slider is arranged above the front wheel linear guide rail, and the front wheel slider moves along the Y direction on the front wheel linear guide rail;

[0024] A front wheel support plate, arranged above the front wheel slider;

[0025] A front wheel slide plate, disposed above the front wheel support plate, configured to carry the front wheels of the two-axle vehicle and drive the front wheels of the two-axle vehicle to translate in the Y direction;

[0026] A front wheel connecting block, arranged on the side of the front wheel supporting plate;

[0027] The sliding drive device is fixedly arranged on the parking tray and is configured to drive the front wheel connecting block to move, the front wheel connecting block drives the front wheel supporting plate to translate along the Y direction, and the front wheel supporting plate drives the front wheel skateboard to move along the Y direction.

[0028] Further, the rear wheel adjustment platform comprises:

[0029] A rear wheel linear guide rail is fixedly arranged on the parking pallet, and the long side direction of the rear wheel linear guide rail is parallel to the Y direction;

[0030] A rear wheel slider is arranged above the rear wheel linear guide rail, and the rear wheel slider moves along the Y direction on the rear wheel linear guide rail;

[0031] A rear wheel support plate, arranged above the rear wheel slider;

[0032] A rear wheel skateboard, disposed above the rear wheel support plate, configured to carry the rear wheels of the two-axle vehicle and drive the rear wheels of the two-axle vehicle to translate in the Y direction;

[0033] A rear wheel connecting block is arranged on the side of the rear wheel supporting plate;

[0034] The sliding drive device is fixedly arranged on the parking tray and is configured to drive the rear wheel connecting block to move, the rear wheel connecting block drives the rear wheel supporting plate to move along the Y direction, and the rear wheel supporting plate drives the rear wheel skateboard to move along the Y direction.

[0035] Furthermore, the sliding drive device comprises:

[0036] A bed guide rail is fixedly arranged on the parking pallet, and the long side direction of the bed guide rail is parallel to the Y direction;

[0037] Limiting blocks are arranged at two ends of one side of the bed guide rail;

[0038] Lead screw supports are arranged at both ends of the bed guide rails;

[0039] A ball screw is arranged on the screw support;

[0040] A coupling, arranged on one side of the ball screw;

[0041] A servo motor is disposed on one side of the coupling and is configured to drive the coupling to rotate, and the coupling drives the ball screw to rotate;

[0042] The square nut seat is sleeved on the ball screw and is configured to move along the Y direction on the ball screw under the drive of the ball screw. The square nut seat moves between the limit blocks. The connecting block is clamped on the square nut seat. The square nut seat drives the connecting block to move along the Y direction.

[0043] Furthermore, a PID controller is included.

[0044] The PID controller is configured to receive the distance signal measured by the infrared camera, and the PID controller calculates and generates a displacement signal of the front wheel adjustment platform or the rear wheel adjustment platform according to the distance signal measured by the infrared camera.

[0045] Furthermore, the automatic centering device is located below the test room floor, the coordinate system of the automatic centering device is consistent with the coordinate system of the test room, and the upper surfaces of the front wheel adjustment platform and the rear wheel adjustment platform are respectively flush with the test room floor.

[0046] An automatic centering method for a two-axle vehicle body automatic centering device comprises the following steps:

[0047] S01: After the vehicle enters the designated position of the device, the infrared detection head measures the distance between the front and rear sides of the vehicle body and the probes on both sides, and sends the measured data to the control system;

[0048] S02: Determine the displacement value required for the front and rear sides of the vehicle body to be centered by means of a PID controller, and initialize the control parameters at the same time;

[0049] S03: The PID controller controls the servo motor to adjust the rear body according to the displacement value. When the distance adjustment of the rear body is completed, the control system turns to the adjustment of the front body. According to the distance value detected by the infrared detection head in real time, the displacement parameter of the front body is dynamically adjusted, and the front body is adjusted according to the adjusted displacement parameter.

[0050] S04: Repeat S03, and adjust and check the positions of the front and rear vehicle bodies according to the distance value detected in real time by the infrared detection head, until the distance measurement values ​​from the front and rear vehicle bodies to the cameras on both sides are completely consistent, and the automatic centering is completed.

[0051] The beneficial effects of the present invention are:

[0052] The present invention provides a two-axle vehicle body automatic centering device and automatic centering method, which greatly improves the efficiency and accuracy of lighting testing through intelligent and automated design. The system uses an infrared detection head to monitor the distance between the front and rear sides of the vehicle body and the probe in real time, and combines a sliding device driven by a servo motor to automatically adjust the wheel position to achieve precise centering. Compared with traditional manual operation, the platform reduces manual steps and centering time, and can automatically adjust the probe height according to the actual position of the vehicle, adapt to the needs of different models, speed up vehicle preparation and centering, and make the test process smoother and more efficient. In addition, through the real-time feedback adjustment mechanism, the system continuously monitors and fine-tunes the vehicle position to ensure that the vehicle always maintains the best positioning. The PID control system avoids errors and deviations through precise control, significantly improves the safety and reliability of the test, provides a highly automated solution for scenes such as lighting testing, and greatly improves the test efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. The drawings described below are some embodiments of the present invention. For ordinary technicians in this field, it is obvious that other drawings can be obtained based on these drawings without paying any creative work.

[0054] Figure 1 The present invention is a schematic structural diagram of the automatic centering device for a two-axle vehicle body.

[0055] Figure 2 It is a structural schematic diagram of the detection module of the present invention;

[0056] Figure 3 It is a structural schematic diagram of the infrared detection module described in the present invention;

[0057] Figure 4 It is a structural schematic diagram of the front wheel adjustment platform described in the present invention;

[0058] Figure 5 It is a structural schematic diagram of the front wheel sliding drive device described in the present invention;

[0059] Figure 6 It is a structural schematic diagram of the rear wheel adjustment platform described in the present invention;

[0060] Figure 7 It is a schematic structural diagram of the rear wheel adjustment platform (without the slide plate) described in the present invention;

[0061] In the figure:

[0062] 100-parking pallet; 200-detection module; 201-square steel column; 211-limiting card seat; 212-stepping motor; 213-linear slide group; 220-infrared detection module; 221-sliding card seat; 222-axle rod adjustment module; 223-infrared camera; 400-front wheel adjustment platform; 402-front wheel slide plate; 403-front wheel support plate; 404-front wheel linear guide rail; 405-front wheel slider; 406-front wheel connecting rod Connecting block; 410-front wheel sliding drive device; 411-servo motor; 412-limiting block; 414-coupling; 417-square nut seat; 418-ball screw; 419-bed guide rail; 420-screw support; 500-rear wheel adjustment platform; 501-rear wheel slide plate; 505-rear wheel linear guide rail; 506-rear wheel slider; 507-rear wheel support plate; 508-rear wheel connecting block; 510-rear wheel sliding drive device. DETAILED DESCRIPTION

[0063] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0064] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "axial", "radial", "vertical", "horizontal", "inner", "outer" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0065] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0066] like Figure 1 As shown, the automatic centering device for a two-axle vehicle body of the present invention is used for automatic centering of a two-axle vehicle before a lighting test, and includes a parking pallet 100, a detection module 200, a front wheel adjustment platform 400 and a rear wheel adjustment platform 500. The coordinate system of the parking pallet 100 is consistent with the coordinate system of the test room. A detection module 200 is connected to each of the four corners of the parking pallet 100. One side of the parking pallet 100 in the Y direction is connected to the front wheel adjustment platform 400, and the other side of the parking pallet in the Y direction is connected to the rear wheel adjustment platform 500. When the two-axle vehicle is located on the centering device, the detection modules 200 are distributed on both sides of the vehicle body and are symmetrical about the central axis of the parking pallet 100 in the X direction. The positions of the front wheel adjustment platform 400 and the rear wheel adjustment platform 500 correspond to the positions of the front wheels and rear wheels of the two-axle vehicle, respectively.

[0067] The coordinate system described in the present invention is a Cartesian coordinate system, including an X-axis and a Y-axis located in a horizontal plane, and a Z-axis perpendicular to the horizontal plane. The two-axle vehicle body automatic centering device is used to make the coordinate system of the two-axle vehicle consistent with the coordinate system of the two-axle vehicle body automatic centering device, that is, to make the X-axis, Y-axis and Z-axis in the coordinate system of the two-axle vehicle consistent with the X-axis, Y-axis and Z-axis in the coordinate system of the two-axle vehicle body automatic centering device. Among them, as long as the surface level of the two-axle vehicle body automatic centering device is guaranteed, when the two-axle vehicle is located on the two-axle vehicle body automatic centering device, the Z-axis of the two-axle vehicle and the Z-axis of the two-axle vehicle body automatic centering device are consistent. Therefore, the main purpose of the two-axle vehicle body automatic centering device in the embodiment of the present invention is to make the X-axis and Y-axis in the coordinate system of the two-axle vehicle consistent with the X-axis and Y-axis in the coordinate system of the two-axle vehicle body automatic centering device. The directions of the X-axis and Y-axis of the two-axle vehicle body automatic centering device are Figure 1 There are markings in it.

[0068] The parking pallet 100 serves as a base of the two-axle vehicle body automatic centering device, and other structures of the two-axle vehicle body automatic centering device can be directly or indirectly arranged on the parking pallet 100. Therefore, the coordinate system of the parking pallet 100 is consistent with the coordinate system of the two-axle vehicle body automatic centering device.

[0069] The parking pallet 100 is also used to carry a two-axle vehicle, so the shape and size of the parking pallet 100 correspond to the shape and size of the two-axle vehicle, and the size of the parking pallet 100 can be slightly larger than the size of the two-axle vehicle. Generally speaking, the shape of a two-axle vehicle is approximately rectangular, and the shape of the parking pallet 100 can be set to be rectangular. The long side of the parking pallet 100 is located in the X direction.

[0070] like Figure 1 As shown, three double I-beams and six cylindrical support beams are welded to the bottom surface of the parking pallet 100, one of the double I-beams is arranged on the central axis of the parking pallet 100 in the X direction, and the other two are arranged on both sides of the central axis of the parking pallet 100 in the X direction and are symmetrically distributed, and the cylindrical support beams are arranged on both sides of the central axis of the parking pallet 100 in the X direction and are symmetrically distributed, with three arranged on each side, (two groups of support mechanisms are fixedly connected to the top surface of the parking pallet 100, and the two groups of support mechanisms are arranged on both sides of the central axis of the parking pallet 100 in the X direction and are symmetrically distributed). In some embodiments of the present invention, the two-axle vehicle body automatic centering device is arranged under the test room floor, and ensures that the upper surfaces of the front wheel adjustment platform 400, the rear wheel adjustment platform 500 and the support mechanism in the centering device are flush with the test room floor during installation.

[0071] The detection module 200 is fixedly arranged on the parking pallet 100, and is configured to detect the distance from the front and rear sides of the two-axle vehicle body to the corresponding side infrared camera; when the two-axle vehicle is located on the centering device, there are four groups of detection modules 200, which are respectively located at the left front, right front, left rear and right rear of the two-axle vehicle. The detection modules on both sides of the two-axle vehicle body will automatically detect the distance from the body to the corresponding side infrared camera, and transmit the measured distance signal to the PID controller.

[0072] like Figure 1 , Figure 2 and Figure 3 As shown, the detection module 200 includes a square steel column 201, a linear slide group 213, a limit block 211, a stepper motor 212 and an infrared detection module 220; the square steel column 201 is fixedly arranged above the parking pallet 100; the linear slide group 213 is arranged on the side of the square steel column 201; the limit block 211 is arranged at both ends of the side of the linear slide group 213; the stepper motor 212 is arranged below the linear slide group 213, and is configured to drive the linear slide group 213 to move; the infrared detection module 220 is clamped on the linear slide group 213, and the linear slide group 213 drives the infrared detection module 220 to move in the vertical direction, and the infrared detection module 220 can only move between the limit blocks 211. The infrared detection module 220 moves in the vertical direction of the linear slide 213 under the drive of the stepper motor 212, and can transmit the distance signals of different height positions on both sides of the vehicle body to the PID controller, so as to provide more accurate centering signals.

[0073] The infrared detection module 220 includes a sliding card seat 221, an axle rod adjustment module 222 and an infrared camera 223. The sliding card seat 221 is arranged on the side of the linear slide 213; the axle rod adjustment module 222 is arranged on the sliding card seat 221; the infrared camera 223 is arranged on the axle rod adjustment module 222, and is configured to measure the distance from one side of the two-axle vehicle to the infrared camera on the corresponding side in the Y direction. The infrared camera can rotate in the X direction and the Y direction under the action of the axle rod adjustment module 222. When debugging the equipment, the distances from the front and rear infrared cameras to the X-direction center axis of the parking tray 100 can be made the same by adjusting the axle rod adjustment module 222.

[0074] like Figure 1 As shown, the front wheel adjustment platform 400 is fixedly arranged on the parking pallet 100, and is configured to make the central axis of the front wheel of the two-axle vehicle in the X direction coincide with the central axis of the parking pallet 100 in the X direction in the vertical direction; when the two-axle vehicle is located on the parking pallet 100, the two front wheels of the two-axle vehicle are located on the front wheel adjustment platform 400, and the front wheel adjustment platform 400 aligns the two front wheels of the two-axle vehicle, that is, makes the central axis of the two front wheels of the two-axle vehicle in the X direction coincide with the central axis of the parking pallet 100 in the X direction in the vertical direction, that is, makes the orientation of the front part of the two-axle vehicle including the two front wheels consistent with the X direction.

[0075] like Figure 4 and Figure 5As shown, the front wheel adjustment platform 400 includes a front wheel linear guide 404, a front wheel slider 405, a front wheel support plate 403, a front wheel skateboard 402, a front wheel connecting block 406, a front wheel linear guide 404 and a front wheel sliding drive device 410; the front wheel linear guide 404 is fixedly arranged on the parking pallet 100, and the long side direction of the front wheel linear guide 404 is parallel to the Y direction; the front wheel slider 405 is arranged above the front wheel linear guide 404, and the front wheel slider 405 is arranged on the front wheel linear guide The front wheel support plate 403 is arranged above the front wheel slider 405; the front wheel slide plate 402 is arranged above the front wheel support plate 403, and is configured to carry the front wheel of the two-axle vehicle and drive the front wheel of the two-axle vehicle to translate in the Y direction; the front wheel slide plate 402 is connected to the parking tray 100 through the front wheel support plate 403, the front wheel slider 405 and the linear guide rail 404, so that the front wheel slide plate 402 can slide freely in the Y direction. The front wheel connecting block 406 is arranged on the side of the front wheel support plate 403; the front wheel sliding drive device 410 is fixedly arranged on the parking tray 100, and is configured to drive the front wheel connecting block 406 to move, the front wheel connecting block 406 drives the front wheel support plate 403 to translate in the Y direction, and the front wheel support plate 403 drives the front wheel slide plate 402 to move in the Y direction. The front wheel sliding drive device 410 aligns the two front wheels of the two-axle vehicle by driving the front wheel sliding plate 402 .

[0076] In some embodiments of the present invention, the number of the front wheel linear guide rails 404 is two, and each linear guide rail is connected to the front wheel support plate 403 through five front wheel sliders 405. Each linear guide rail uses five front wheel sliders 405 to better transmit load and reduce the loss of parts. The front wheel sliding drive device 410 is equipped with a protective cover plate outside for easy inspection and maintenance.

[0077] like Figure 4 and Figure 5As shown, the front wheel sliding drive device 410 includes a bed guide rail 419, a limit block 412, a screw support 420, a ball screw 418, a coupling 414, a servo motor 411 and a square nut seat 417; the bed guide rail 419 is fixedly arranged on the parking pallet 100, and the long side direction of the bed guide rail 419 is parallel to the Y direction; the limit block 412 is arranged at both ends of the bed guide rail 419 (on one side); the screw support 420 is arranged at both ends of the bed guide rail 419; the ball screw 418 is arranged on the screw support 420; The coupling 414 is arranged on one side of the ball screw 418; the servo motor 411 is arranged on one side of the coupling 414 and is configured to drive the coupling to rotate, and the coupling drives the ball screw to rotate; the square nut seat 417 is sleeved on the ball screw 418 and is configured to move on the ball screw 418 along the Y direction under the drive of the ball screw 418, the square nut seat 417 moves between the limit blocks 412, the connecting block is clamped on the square nut seat 417, and the square nut seat 417 drives the connecting block to move along the Y direction. Due to the limitation of the limit block 412, the front wheel sliding drive device 410 can only move 30cm left and right along the Y direction, and the moving accuracy reaches (±0.01mm).

[0078] like Figure 1 As shown, the rear wheel adjustment platform 500 is fixedly disposed on the parking pallet 100, and is configured to make the central axis of the rear wheel of the two-axle vehicle in the X direction coincide with the central axis of the parking pallet in the X direction in the vertical direction, wherein the X direction is perpendicular to the Y direction, and the detection module 200, the front wheel adjustment platform 400 and the rear wheel adjustment platform 500 make the coordinate system of the two-axle vehicle consistent with the coordinate system of the device and the coordinate system of the test room.

[0079] like Figure 6 and Figure 7As shown, the rear wheel adjustment platform 500 includes a rear wheel linear guide rail 506, a rear wheel slider 506, a rear wheel support plate 507, a rear wheel skateboard 501, a rear wheel connecting block 508, a rear wheel linear guide rail 505 and a rear wheel sliding drive device 510; the rear wheel linear guide rail 505 is fixedly arranged on the parking tray 100, and the long side direction of the rear wheel linear guide rail 505 is parallel to the Y direction; the rear wheel slider 506 is arranged above the rear wheel linear guide rail 505, and the rear wheel slider 506 is arranged on the rear wheel The rear wheel support plate 507 is arranged above the rear wheel slider 506; the rear wheel skateboard 501 is arranged above the rear wheel support plate 507, and is configured to carry the rear wheels of the two-axle vehicle and drive the rear wheels of the two-axle vehicle to translate in the Y direction; the rear wheel skateboard 501 is connected to the parking tray 100 through the rear wheel support plate 507, the rear wheel skateboard 501 and the linear guide 505, so that the rear wheel skateboard 501 can slide freely in the Y direction. The rear wheel connecting block 508 is arranged on the side of the rear wheel support plate 507; the rear wheel sliding drive device 510 is fixedly arranged on the parking tray 100, and is configured to drive the rear wheel connecting block 508 to move, the rear wheel connecting block 508 drives the rear wheel support plate 507 to move along the Y direction, and the rear wheel support plate 507 drives the rear wheel skateboard 501 to move along the Y direction. The rear wheel sliding drive device 510 drives the rear wheel sliding plate 501 to center the two rear wheels of the two-axle vehicle.

[0080] In some embodiments of the present invention, there are three rear wheel sliding drive devices, and the number of the rear wheel linear guide rails 505 is four, each of which is connected to the rear wheel support plate 507 through four rear wheel sliders 506. The use of four rear wheel sliders 506 for each linear guide can better transmit the load and reduce the loss of parts. The rear wheel slide plate 501 is provided with an inspection window just above the rear wheel sliding drive device 510 and is covered with a transparent observation cover plate. The three inspection windows improve the efficiency of detecting and repairing the drive device.

[0081] In some embodiments of the present invention, the structure of the rear wheel adjustment platform 500 is similar to that of the front wheel adjustment platform 400, and the structure of the rear wheel sliding drive device 510 is completely the same as that of the front wheel sliding drive device 410. The structure of the front wheel sliding drive device 410 has been described in detail above, so the structure of the rear wheel sliding drive device 510 will not be described in detail again, and the structure of the rear wheel sliding drive device 510 can refer to that of the front wheel sliding drive device 410.

[0082] In some embodiments of the present invention, the two-axle vehicle body automatic centering device further includes: a PID controller configured to receive the distance signal measured by the infrared camera, and the PID controller calculates and generates the displacement signal of the sliding drive device based on the distance signal measured by the infrared camera. The PID controller has good anti-interference ability and accurate and fast signal processing ability. The front wheel adjustment platform also includes a front wheel processor configured to receive the displacement signal of the PID controller, and control the front wheel sliding drive device to drive the front wheel skateboard to move in the Y direction according to the displacement signal of the PID controller. The rear wheel adjustment platform also includes a rear wheel processor configured to receive the displacement signal of the PID controller, and control the rear wheel sliding drive device to drive the rear wheel skateboard to translate in the Y direction according to the displacement signal of the PID controller.

[0083] The technical solution of the present invention realizes the automatic centering and alignment of a two-axle vehicle in the X and Y directions. The position accuracy in the initial position adjustment during the centering process of the two-axle vehicle can be improved through automated operation, and the efficiency is greatly improved. The two-axle vehicle body automatic centering device of the present invention adopts an integrated design, which can be installed as a whole and is easy to disassemble and assemble. In addition to being used for centering before light detection preparation, it is suitable for various scene applications that require alignment and centering of the X and Y axis directions with the external coordinate system.

[0084] The method for automatic centering of a two-axle vehicle body based on the automatic centering device for a two-axle vehicle body of the present invention comprises the following steps:

[0085] Step S1: After the vehicle enters the designated position of the device, the infrared detection head starts to measure the distance between the front and rear sides of the vehicle body and the probes on both sides, and sends the measured data to the control system.

[0086] Step S2: The system calculates the displacement value required for the front and rear side centering of the vehicle body through the PID controller, and initializes the control parameters to ensure that the servo motor can be accurately adjusted.

[0087] Step S3: The PID controller first controls the servo motor to adjust the rear body by calculating the generated displacement value. When the distance adjustment of the rear body is completed, the control system turns to the adjustment of the front body. According to the distance value detected by the infrared detection head in real time, the displacement parameters of the front body are dynamically adjusted, and the front body is adjusted according to the adjusted displacement parameters. After the adjustment, the vehicle completes the preliminary alignment.

[0088] Step S4: After the initial alignment, the system will repeat the previous operation and adjust and check the position of the front and rear vehicle bodies again according to the distance value detected in real time by the infrared detection head. When the distance measurement values ​​from the front and rear vehicle bodies to the cameras on both sides are completely consistent, the servo motor stops running and the equipment completes automatic alignment.

[0089] The specific process of the automatic centering method of the present invention is as follows: first, after the vehicle enters the designated position, the infrared detection head measures the distance between the front and rear sides of the vehicle body and the probes on both sides, and transmits the obtained data to the control system. Subsequently, the PID controller calculates the error (e) between the target position and the actual measured position, and the error value is used to generate the displacement signal of the front wheel and rear wheel adjustment platform.

[0090] During the error processing, the controller divides the error signal into three parts: proportional (P), integral (I), and differential (D). Specifically, proportional control generates a control signal proportional to the current error to achieve a fast response; integral control eliminates steady-state errors by accumulating historical errors; and differential control predicts the error change trend to reduce overshoot and oscillation of the system. Based on these calculations, the control signal generated by the PID controller drives the servo motor to adjust the position of the rear body.

[0091] After the rear body adjustment is completed, the system automatically switches to the front body adjustment and adjusts the displacement parameters in real time to ensure accurate centering. During the entire control process, the infrared detection head continuously monitors the position of the vehicle and feeds real-time data back to the PID controller, which continuously corrects the position of the front and rear wheels based on the latest measurement results until the distance between the front and rear body and the cameras on both sides is completely consistent, thus completing automatic centering.

[0092] To ensure the stability of the system, the parameters of the PID controller (K p )、(K i )、(K d ) has been finely tuned to achieve a smooth alignment process, avoiding unnecessary oscillation and overshoot, thereby effectively improving the accuracy and efficiency of testing.

[0093] Compared with the prior art, the present invention provides a two-axle vehicle body automatic centering device and automatic centering method, which greatly improves the efficiency and accuracy of lighting testing through intelligent and automated design. The system uses an infrared detection head to monitor the distance between the front and rear wheels of the vehicle and the probe in real time, and combines a sliding device driven by a servo motor to automatically adjust the wheel position to achieve precise centering. Compared with traditional manual operation, the platform reduces manual steps and centering time, and can automatically adjust the probe height according to the actual position of the vehicle, adapt to the needs of different models, speed up vehicle preparation and centering, and make the test process smoother and more efficient. In addition, through the real-time feedback adjustment mechanism, the system continuously monitors and fine-tunes the vehicle position to ensure that the vehicle always maintains the best positioning. The PID control system avoids errors and deviations through precise control, significantly improves the safety and reliability of the test, provides a highly automated solution for scenarios such as lighting testing, and greatly improves the test efficiency and accuracy.

[0094] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0095] The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the present invention. They are not intended to limit the scope of protection of the present invention. All equivalent embodiments or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A two-axle vehicle body automatic centering device, characterized in that: include: A parking pallet (100), wherein the coordinate system of the parking pallet (100) is consistent with the coordinate system of the test room, a detection module (200) is connected to each of the four corners of the parking pallet (100), one side of the parking pallet (100) in the Y direction is connected to a front wheel adjustment platform (400), and the other side of the parking pallet in the Y direction is connected to a rear wheel adjustment platform (500); A detection module (200) is fixedly arranged on the parking pallet (100) and is configured to detect the distance from the front and rear sides of the two-axle vehicle body to the corresponding side infrared camera; A front wheel adjustment platform (400) is fixedly arranged on the parking pallet (100) and is configured to make the center axis of the front wheel of the two-axle vehicle in the X direction coincide with the center axis of the parking pallet (100) in the X direction in the vertical direction; The rear wheel adjustment platform (500) is fixedly arranged on the parking pallet (100) and is configured to make the central axis of the rear wheel of the two-axle vehicle in the X direction coincide with the central axis of the parking pallet in the X direction in the vertical direction, wherein the X direction is perpendicular to the Y direction, and the detection module (200), the front wheel adjustment platform (400) and the rear wheel adjustment platform (500) make the coordinate system of the two-axle vehicle consistent with the coordinate system of the device and the coordinate system of the test room.

2. The automatic centering device for a two-axle vehicle body according to claim 1, characterized in that: The detection module (200) comprises: A square steel column (201) is fixedly arranged above the parking support plate (100); A linear slide group (213) is arranged on the side of the square steel column (201); Limiting blocks (211) are arranged at two ends of the side surfaces of the linear slide group (213); A stepper motor (212), disposed below the linear slide group (213), configured to drive the linear slide group (213) to move; The infrared detection module (220) is clamped on the linear slide group (213), and the linear slide group (213) drives the infrared detection module (220) to move in a vertical direction, and the infrared detection module (220) moves between the limit clamping blocks (211).

3. The automatic centering device for a two-axle vehicle body according to claim 2, characterized in that: The infrared detection module (220) comprises: A sliding seat (221) is arranged on the side of the linear slide group (213); A shaft adjustment module (222) is arranged on the sliding seat (221); The infrared camera (223) is arranged on the shaft adjustment module (222) and is configured to measure the distance from one side of the vehicle body of the two-axle vehicle to the infrared camera (223) on the corresponding side in the Y direction; the infrared camera (223) can rotate along the X direction and the Y direction under the action of the shaft adjustment module (222).

4. The automatic centering device for a two-axle vehicle body according to claim 1, characterized in that: The front wheel adjustment platform (400) comprises: A front wheel linear guide rail (404) is fixedly arranged on the parking pallet (100), and the long side direction of the front wheel linear guide rail (404) is parallel to the Y direction; A front wheel slider (405) is arranged above the front wheel linear guide rail (404), and the front wheel slider (405) moves along the Y direction on the front wheel linear guide rail (404); A front wheel support plate (403) is arranged above the front wheel slider (405); A front wheel slide plate (402) is arranged above the front wheel support plate (403) and is configured to carry the front wheels of the two-axle vehicle and drive the front wheels of the two-axle vehicle to translate in the Y direction; A front wheel connecting block (406) is arranged on the side of the front wheel supporting plate (403); The sliding drive device is fixedly arranged on the parking tray (100) and is configured to drive the front wheel connecting block (406) to move, the front wheel connecting block (406) drives the front wheel support plate (403) to translate along the Y direction, and the front wheel support plate (403) drives the front wheel skateboard (402) to move along the Y direction.

5. The automatic centering device for a two-axle vehicle body according to claim 1, characterized in that: The rear wheel adjustment platform (500) comprises: A rear wheel linear guide rail (505) is fixedly arranged on the parking pallet (100), and the long side direction of the rear wheel linear guide rail (505) is parallel to the Y direction; A rear wheel slider (506) is arranged above the rear wheel linear guide rail (505), and the rear wheel slider (506) moves along the Y direction on the rear wheel linear guide rail (505); A rear wheel support plate (507) is arranged above the rear wheel slider (506); A rear wheel skateboard (501), arranged above the rear wheel support plate (507), configured to carry the rear wheels of the two-axle vehicle and drive the rear wheels of the two-axle vehicle to translate in the Y direction; A rear wheel connecting block (508) is arranged on the side of the rear wheel supporting plate (507); The sliding drive device is fixedly arranged on the parking tray (100) and is configured to drive the rear wheel connecting block (508) to move, the rear wheel connecting block (508) drives the rear wheel support plate (507) to move along the Y direction, and the rear wheel support plate (507) drives the rear wheel skateboard (501) to move along the Y direction.

6. The automatic centering device for a two-axle vehicle body according to claim 4 or 5, characterized in that: The sliding drive device comprises: A bed guide rail (419) is fixedly arranged on the parking pallet (100), and the long side direction of the bed guide rail (419) is parallel to the Y direction; Limiting blocks (412) are arranged at two ends of one side of the bed guide rail (419); Lead screw supports (420) are arranged at both ends of the bed guide rails (419); A ball screw (418) is disposed on the screw support (420); A coupling (414) is arranged on one side of the ball screw (418); A servo motor (411) is disposed on one side of the coupling (414); and is configured to drive the coupling to rotate, and the coupling drives the ball screw to rotate; The square nut seat (417) is sleeved on the ball screw (418) and is configured to move along the Y direction on the ball screw (418) under the drive of the ball screw (418); the square nut seat (417) moves between the limit blocks (412); the connecting block is clamped on the square nut seat (417); and the square nut seat (417) drives the connecting block to move along the Y direction.

7. The automatic centering device for a two-axle vehicle body according to claim 1, characterized in that: Also includes PID controller, A PID controller is configured to receive a distance signal measured by the infrared camera (223), and the PID controller calculates and generates a displacement signal of the front wheel adjustment platform (400) or the rear wheel adjustment platform (500) based on the distance signal measured by the infrared camera.

8. The automatic centering device for a two-axle vehicle body according to claim 1, characterized in that: The automatic centering device is located below the floor of the test room, the coordinate system of the automatic centering device is consistent with the coordinate system of the test room, and the upper surfaces of the front wheel adjustment platform (400) and the rear wheel adjustment platform (500) are respectively flush with the floor of the test room.

9. An automatic centering method for a two-axle vehicle body automatic centering device according to any one of claims 1 to 8, characterized in that: The steps include: S01: After the vehicle enters the designated position of the device, the infrared detection head measures the distance between the front and rear sides of the vehicle body and the probes on both sides, and sends the measured data to the control system; S02: Determine the displacement value required for the front and rear sides of the vehicle body to be centered by means of a PID controller, and initialize the control parameters at the same time; S03: The PID controller controls the servo motor to adjust the rear body according to the displacement value. When the distance adjustment of the rear body is completed, the control system turns to the adjustment of the front body. According to the distance value detected by the infrared detection head in real time, the displacement parameter of the front body is dynamically adjusted, and the front body is adjusted according to the adjusted displacement parameter. S04: Repeat S03, and adjust and check the positions of the front and rear vehicle bodies according to the distance value detected in real time by the infrared detection head, until the distance measurement values ​​from the front and rear vehicle bodies to the cameras on both sides are completely consistent, and the automatic centering is completed.

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